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This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…

Robotics · Computer Science 2020-06-23 T. Pardi , V. Ortenzi , C. Fairbairn , T. Pipe , A. M. Ghalamzan E. , R. Stolkin

This paper introduces a nonconforming virtual element method for general second-order elliptic problems with variable coefficients on domains with curved boundaries and curved internal interfaces. We prove arbitrary order optimal…

Numerical Analysis · Mathematics 2024-10-25 Yi Liu , Alessandro Russo

Numerical simulations for flow and transport in subsurface porous media often prove computationally prohibitive due to property data availability at multiple spatial scales that can vary by orders of magnitude. A number of model order…

Numerical Analysis · Mathematics 2018-03-13 Gurpreet Singh , Wingtat Leung , Mary F. Wheeler

Assessing IC manufacturing process fluctuations and their impacts on IC interconnect performance has become unavoidable for modern DSM designs. However, the construction of parametric interconnect models is often hampered by the rapid…

Hardware Architecture · Computer Science 2011-11-09 Peng Li , Frank Liu , Xin Li , Lawrence T. Pileggi , Sani R. Nassif

Parametric shape optimization aims at minimizing an objective function f(x) where x are CAD parameters. This task is difficult when f is the output of an expensive-to-evaluate numerical simulator and the number of CAD parameters is large.…

Machine Learning · Statistics 2021-05-06 David Gaudrie , Rodolphe Le Riche , Victor Picheny , Benoit Enaux , Vincent Herbert

Total variation integer optimal control problems admit solutions and necessary optimality conditions via geometric variational analysis. In spite of the existence of said solutions, algorithms which solve the discretized objective suffer…

Optimization and Control · Mathematics 2025-08-07 Robert Baraldi , Paul Manns

We present a methodology that extends invariant manifold theory to a class of autonomous piecewise linear systems with nonsmoothness at the equilibrium, providing a framework for model order reduction in mechanical structures with compliant…

Dynamical Systems · Mathematics 2026-01-16 A. Yassine Karoui , Remco I. Leine

Solving optimal control problems for transport-dominated partial differential equations (PDEs) can become computationally expensive, especially when dealing with high-dimensional systems. To overcome this challenge, we focus on developing…

Optimization and Control · Mathematics 2026-03-31 Tobias Breiten , Shubhaditya Burela , Philipp Schulze

This article presents a general reduced order model (ROM) framework for addressing fluid dynamics problems involving time-dependent geometric parametrisations. The framework integrates Proper Orthogonal Decomposition (POD) and Empirical…

Fluid Dynamics · Physics 2024-05-07 J. R. Bravo , G. Stabile , M. Hess , J. A. Hernandez , R. Rossi , G. Rozza

This work studies reduced order modeling (ROM) approaches to speed up the solution of variational data assimilation problems with large scale nonlinear dynamical models. It is shown that a key requirement for a successful reduced order…

Systems and Control · Computer Science 2015-05-20 Răzvan Ştefănescu , Adrian Sandu , Ionel Michael Navon

This paper proposes an adaptive hyper-reduction method to reduce the computational cost associated with the simulation of parametric particle-based kinetic plasma models, specifically focusing on the Vlasov-Poisson equation. Conventional…

Numerical Analysis · Mathematics 2026-02-05 Cecilia Pagliantini , Federico Vismara

The $\mathcal{H}_2$-optimal Model Order Reduction (MOR) is one of the most significant frameworks for reduction methodologies for linear dynamical systems. In this context, the Iterative Rational Krylov Algorithm (\IRKA) is a well…

Numerical Analysis · Mathematics 2025-08-04 Yiding Lin , Valeria Simoncini

Many engineering processes can be accurately modelled using partial differential equations (PDEs), but high dimensionality and non-convexity of the resulting systems pose limitations on their efficient optimisation. In this work, a model…

Optimization and Control · Mathematics 2024-10-17 Min Tao , Panagiotis Petsagkourakis , Jie Li , Constantinos Theodoropoulos

Many model order reduction (MOR) methods rely on the computation of an orthonormal basis of a subspace onto which the large full order model is projected. Numerically, this entails the orthogonalization of a set of vectors. The nature of…

Numerical Analysis · Mathematics 2025-07-11 Maximilian Bindhak , Art J. R. Pelling , Jens Saak

In this paper, we consider the model reduction problem of large-scale systems, such as systems obtained through the discretization of partial differential equations. We propose a computationally optimal randomized proper orthogonal…

Dynamical Systems · Mathematics 2016-05-04 Dan Yu , Suman Chakravorty

In this work, we present scalable balancing domain decomposition by constraints methods for linear systems arising from arbitrary order edge finite element discretizations of multi-material and heterogeneous 3D problems. In order to enforce…

Computational Engineering, Finance, and Science · Computer Science 2024-12-20 Santiago Badia , Alberto F. Martín , Marc Olm

The model reduction problem for high-order multi-input, multi-output (MIMO) polynomial nonlinear systems based on moment matching is addressed. The technique of power-series decomposition is exploited: this decomposes the solution of the…

Systems and Control · Electrical Eng. & Systems 2025-08-20 Chao Huang , Alessandro Astolfi

An important class of dynamical systems with several practical applications is linear systems with quadratic outputs. These models have the same state equation as standard linear time-invariant systems but differ in their output equations,…

Systems and Control · Electrical Eng. & Systems 2024-08-13 Umair Zulfiqar , Zhi-Hua Xiao , Qiu-Yan Song , Mohammad Monir Uddin , Victor Sreeram

This paper proposes two convergent adaptive mesh-refining algorithms for the hybrid high-order method in convex minimization problems with two-sided p-growth. Examples include the p-Laplacian, an optimal design problem in topology…

Numerical Analysis · Mathematics 2024-07-03 Carsten Carstensen , Ngoc Tien Tran

We propose a novel framework for model-order reduction of hyperbolic differential equations. The approach combines a relaxation formulation of the hyperbolic equations with a discretization using shifted base functions. Model-order…

Numerical Analysis · Mathematics 2021-05-03 Sara Grundel , Michael Herty